CN112015164A - Intelligent networking automobile complex test scene implementation system based on digital twin - Google Patents
Intelligent networking automobile complex test scene implementation system based on digital twin Download PDFInfo
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Abstract
The invention discloses an intelligent networked automobile complex test scene implementation system based on digital twin, which comprises a cloud control system, a real world and a virtual world, wherein the real world and the virtual world are in interactive connection; determining required dynamic traffic elements and target motion tracks thereof based on the twin road and the test scene; the target motion track of the dynamic traffic element is used as a control target, and a control instruction of the detected vehicle and a control instruction of the dynamic traffic element are respectively generated through coordination control calculation based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic element output by the dynamic updating module; the invention can not only realize complex test scenes quickly and efficiently and improve the test efficiency, but also realize the high-precision control of the whole process of the test scenes, has good repeatability of the test scenes and improves the test level.
Description
Technical Field
The invention belongs to the technical field of automatic driving tests, and particularly relates to an intelligent networked automobile complex test scene implementation system based on digital twins.
Background
The road test of automatic driving is an important link for determining whether the automatic driving can really land for application, wherein the road test is a necessary link before the automatic driving vehicle carries out the road test because the test safety of the closed road is high, the repeatability is strong, the external interference is small.
The dynamic traffic elements in the current closed road test mainly comprise: pedestrians, bicycles, motor vehicles and the like are generally subjected to scene tests by adopting fake persons and fake vehicles in order to ensure the safety and reliability of the tests. Specifically, the dummy and the vehicle are mounted on a movable platform, and the control mode of the platform movement generally comprises: firstly, manual control: the dummy car is arranged on a pre-laid track and is pulled by a tester through a rope; secondly, remote control: and the tester remotely controls the mobile platform on the site of the test site according to the position of the tested vehicle and the test requirement. The two control modes are feasible for realizing a simple test scene, but cannot realize a complex test scene, and the existing mode has low test efficiency and cannot meet a large amount of increasingly complex functional test requirements generated by deep application development in the field of automatic driving.
Therefore, the market is eagerly required to seek technical solutions to solve the above technical problems.
Disclosure of Invention
In view of the above, the invention aims to provide an intelligent networking automobile complex test scene implementation system based on digital twins, which can rapidly and efficiently implement a complex test scene and improve the test efficiency, and the overall implementation process of the test scene is high-precision controlled, the repeatability of the test scene is good, and the test level is improved.
The technical scheme adopted by the invention is as follows:
a system for realizing complex test scenes of intelligent networked automobiles based on digital twins comprises a cloud control system, a real world and a virtual world which are in interactive connection, wherein the real world comprises a real road, a tested vehicle running on the real road and dynamic traffic elements, the virtual world comprises a twinned road obtained through digital twins calculation, and the cloud control system comprises a dynamic updating module used for acquiring information of the tested vehicle and the dynamic traffic element information in real time; wherein,
determining required dynamic traffic elements and target motion tracks thereof based on the twin road and the selected test scene;
the target motion track of the dynamic traffic element is used as a control target, and a control instruction of the detected vehicle and a control instruction of the dynamic traffic element are respectively generated through coordination control calculation based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic element output by the dynamic updating module;
the tested vehicle and the dynamic traffic elements operate according to the tested vehicle control instruction and the dynamic traffic element control instruction respectively, and the complex test scene of the tested vehicle is efficiently realized.
Preferably, the detected vehicle and the dynamic traffic element are both provided with sensors, and the dynamic updating module is in wireless communication connection with each sensor respectively and is used for acquiring information of the detected vehicle and information of the dynamic traffic element in real time respectively.
Preferably, the cloud control system includes a coordination control module for the coordination control calculation, and the coordination control module is connected to each of the dynamic update modules in a communication manner.
Preferably, the cloud control system comprises a test scene analysis module, and the test scene analysis module performs scene analysis on the received twin road and test scene information to determine a target motion track of the dynamic traffic element on the real road.
Preferably, the test scenario parsing module is in communication connection with a test scenario library, selects a matching test scenario from the test scenario library, and defines a required dynamic traffic element in the test scenario.
Preferably, the virtual world further comprises twin detected vehicles and twin dynamic traffic elements obtained by performing digital twin calculation according to detected vehicle information and dynamic traffic element information output by the dynamic updating module, and real-time dynamic display can be performed through the cloud control system.
Preferably, the dynamic traffic element comprises a simulated vehicle and/or a simulated person and/or a simulated creature or a simulated obstacle appearing on the real road.
Preferably, the signal output by the tested vehicle control instruction comprises a test signal of the tested vehicle and/or a target running speed of the tested vehicle.
Preferably, the real road is a closed road.
Preferably, according to the system for implementing the complex test scenario of the intelligent networked automobile, the implementation process of the system for implementing the complex test scenario of the intelligent networked automobile includes the following steps:
s10), selecting a real road for testing in the real world, and then creating a twin road in the virtual world by digital twin calculation;
s20), selecting a test scene, and defining required dynamic traffic elements in the test scene;
s30), analyzing the test scene, and outputting the target motion trail of each dynamic traffic element;
s40), respectively generating a control instruction of the detected vehicle and a control instruction of the dynamic traffic elements through coordination control calculation according to the target motion trail of each dynamic traffic element and based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic elements;
s50), the tested vehicle and the dynamic traffic element respectively operate according to the tested vehicle control instruction and the dynamic traffic element control instruction, and the test evaluation of the tested vehicle is completed under the test scene.
It should be noted that the digital twinning technique referred to in the present application is a known computing technique, and the present application has no particular innovation in itself, and therefore, a detailed description of the digital twinning technique itself is not provided.
The method creatively utilizes a digital twinning technology to create and generate a twinning road for a real road, the twinning road is used as a data base of a virtual world to determine a dynamic traffic element and a target motion track thereof required in a target test scene, then real-time dynamic control and state monitoring are carried out on a tested vehicle and the dynamic traffic element in the real world, a control instruction of the tested vehicle in the real world and a control instruction of the dynamic traffic element in the real world are respectively generated through coordinated control calculation, and the tested vehicle and the dynamic traffic element respectively operate according to the control instruction of the tested vehicle and the control instruction of the dynamic traffic element.
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FIG. 1 is a schematic diagram of functional module connections of a digital twin-based intelligent networked automobile complex test scene implementation system in an embodiment of the present invention;
FIG. 2 is a flowchart of an implementation of a digital twin-based intelligent networked automobile complex test scene implementation system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a test scenario implementation process of the vehicle 1 under test overtaking on the real road 2 according to the embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses an intelligent networked automobile complex test scene implementation system based on digital twins, which comprises a cloud control system, a real world and a virtual world, wherein the real world and the virtual world are in interactive connection; determining a required dynamic traffic element and a target motion track thereof based on the twin road and the selected test scene; the target motion track of the dynamic traffic element is used as a control target, and a control instruction of the detected vehicle and a control instruction of the dynamic traffic element are respectively generated through coordination control calculation based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic element output by the dynamic updating module; the tested vehicle and the dynamic traffic elements operate according to the tested vehicle control instruction and the dynamic traffic element control instruction respectively, and the complex test scene of the tested vehicle is efficiently realized.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an intelligent networked automobile complex test scene implementation system based on a digital twin comprises a cloud control system, a real world and a virtual world which are in interactive connection, wherein the real world comprises a real road, a detected vehicle running on the real road and dynamic traffic elements; the cloud control system comprises a dynamic updating module for acquiring information of a detected vehicle and information of dynamic traffic elements in real time; wherein,
determining required dynamic traffic elements and target motion tracks thereof based on the twin road and the selected test scene; preferably, in this embodiment, the cloud control system includes a test scene analysis module, and the test scene analysis module performs scene analysis on the received twin road and the test scene information to determine a target motion trajectory of the dynamic traffic element on the real road; the test scene analysis module is in communication connection with the test scene library, selects a matched test scene from the test scene library, and defines required dynamic traffic elements in the test scene; in particular, in the present embodiment, the dynamic traffic elements may include simulated vehicles and/or simulated persons and/or simulated creatures or simulated obstacles appearing on the real road for simulating various dynamic element combinations that the vehicle under test may encounter when driving on the real road;
preferably, in the embodiment, the detected vehicle and the dynamic traffic element are both provided with sensors, and the dynamic update module is in wireless communication connection with each sensor respectively and is used for acquiring the information of the detected vehicle and the information of the dynamic traffic element in real time respectively; then, a detected vehicle control instruction and a dynamic traffic element control instruction are respectively generated through coordinated control calculation, preferably, in the embodiment, the cloud control system comprises a coordinated control module used for coordinated control calculation, and the coordinated control module is in communication connection with each dynamic updating module; the virtual world also comprises twin detected vehicles and twin dynamic traffic elements which are obtained by performing digital twin calculation according to the detected vehicle information and the dynamic traffic element information output by the dynamic updating module, and real-time dynamic visual display can be performed through the cloud control system;
in the embodiment, the tested vehicle and the dynamic traffic element respectively operate according to a tested vehicle control instruction and a dynamic traffic element control instruction, so that a complex test scene of the tested vehicle is efficiently realized; preferably, the signal output by the tested vehicle control instruction comprises a test signal of the tested vehicle and/or a target running speed of the tested vehicle, and the tested vehicle is ready to enter a test state by sending the test signal to the tested vehicle;
in this embodiment, please further refer to fig. 2, an implementation process of the system for implementing the complex test scenario of the intelligent networked automobile according to the above description includes the following steps:
s10), selecting a real road for testing in the real world, and then creating a twin road in the virtual world by digital twin calculation;
s20), selecting a test scene, and defining required dynamic traffic elements in the test scene;
s30), analyzing the test scene, and outputting the target motion trail of each dynamic traffic element;
s40), respectively generating a control instruction of the detected vehicle and a control instruction of the dynamic traffic elements through coordination control calculation according to the target motion trail of each dynamic traffic element and based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic elements;
s50), the tested vehicle and the dynamic traffic element respectively operate according to the tested vehicle control instruction and the dynamic traffic element control instruction, and the test evaluation of the tested vehicle is completed in the test scene; specifically, the test evaluation result can be directly output by the vehicle under test in the real world.
To further explain the implementation process of this embodiment, please refer to fig. 3, the present application determines a scene that a vehicle 1 under test is overtaken on a real road 2 as a test scene, defines a vehicle 1 as a dynamic traffic element 1, and a vehicle 2 as a dynamic traffic element 2, and automatically calculates and outputs specific driving behaviors (equivalent to a target motion trajectory) of the vehicle 1 and the vehicle 2 required in the test scene through a scene analysis module, where the specific requirements are as follows: when the detected vehicle 1 runs on the real road 2 in a straight line at a certain speed, the vehicle No. 2 is required to be driven on the right side of the detected vehicle 1 at the same speed in parallel, and simultaneously, the target motion track of the vehicle No. 1 (i) is set: the vehicle No. 1 is overtaking from a position (1) relative to the vehicle to be detected to a position (2) and then to a position (3) to realize overtaking of the vehicle to be detected; the coordination control module receives real-time state information (including state information such as position, speed and the like) of a tested vehicle, a vehicle 1 and a vehicle 2, and respectively outputs control instructions to the tested vehicle, the vehicle 1 and the vehicle 2 through coordination control calculation, wherein the specific control instructions are as follows: and sending a test starting command and a target vehicle speed signal instruction to the tested vehicle. Sending control commands of an accelerator pedal opening degree, a brake pedal and a steering mechanism to a No. 1 vehicle to enable the vehicle to run according to a target motion track; sending control commands of an accelerator pedal opening degree, a brake pedal and a steering mechanism to the No. 2 vehicle to keep the No. 2 vehicle to be driven in parallel with the tested vehicle; and then the complex test scene that the tested vehicle 1 is overtaken on the real road 2 and the vehicle is parallel on the right side is rapidly and efficiently realized.
The method creatively utilizes a digital twinning technology to create and generate a twinning road for a real road, the twinning road is used as a data base of a virtual world to determine a dynamic traffic element and a target motion track thereof required in a target test scene, then real-time dynamic control and state monitoring are carried out on a tested vehicle and the dynamic traffic element in the real world, a control instruction of the tested vehicle in the real world and a control instruction of the dynamic traffic element in the real world are respectively generated through coordinated control calculation, and the tested vehicle and the dynamic traffic element respectively operate according to the control instruction of the tested vehicle and the control instruction of the dynamic traffic element.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An intelligent networked automobile complex test scene implementation system based on digital twins is characterized by comprising a cloud control system, a real world and a virtual world, wherein the real world and the virtual world are in interactive connection, the real world comprises a real road, a detected vehicle running on the real road and dynamic traffic elements, the virtual world comprises a twins road obtained through digital twins calculation, and the cloud control system comprises a dynamic updating module used for acquiring information of the detected vehicle and information of the dynamic traffic elements in real time; wherein,
determining required dynamic traffic elements and target motion tracks thereof based on the twin road and the selected test scene;
the target motion track of the dynamic traffic element is used as a control target, and a control instruction of the detected vehicle and a control instruction of the dynamic traffic element are respectively generated through coordination control calculation based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic element output by the dynamic updating module;
the tested vehicle and the dynamic traffic elements operate according to the tested vehicle control instruction and the dynamic traffic element control instruction respectively, and the complex test scene of the tested vehicle is efficiently realized.
2. The system according to claim 1, wherein the vehicle under test and the dynamic traffic element are provided with sensors, and the dynamic update module is in wireless communication with the sensors, and is configured to collect information of the vehicle under test and information of the dynamic traffic element in real time.
3. The system according to claim 1, wherein the cloud control system includes a coordination control module for the coordination control calculation, and the coordination control module is communicatively connected to each of the dynamic update modules.
4. The system according to claim 1, wherein the cloud control system includes a test scenario analysis module, and the test scenario analysis module performs scenario analysis on the received twin road and test scenario information to determine a target movement trajectory of the dynamic traffic element on the real road.
5. The system according to claim 4, wherein the test scenario parsing module is communicatively connected to a test scenario library, selects a matching test scenario from the test scenario library, and defines a required dynamic traffic element in the test scenario.
6. The system for implementing the complex test scenario of the intelligent networked automobile according to claim 1, wherein the virtual world further includes twin tested vehicles and twin dynamic traffic elements obtained by performing digital twin calculation according to the tested vehicle information and the dynamic traffic element information output by the dynamic update module, and the twin tested vehicles and the twin dynamic traffic elements can be dynamically displayed in real time through the cloud control system.
7. The system according to claim 1, wherein the dynamic traffic elements include simulated vehicles and/or simulated people and/or simulated creatures or simulated obstacles appearing on real roads.
8. The system according to claim 1, wherein the signal output by the vehicle control command includes a test signal of the vehicle under test and/or a target operating speed of the vehicle under test.
9. The system according to claim 1, wherein the real road is a closed road.
10. The system for realizing the complex test scene of the intelligent networked automobile according to any one of claims 1 to 9, wherein the process for realizing the complex test scene of the intelligent networked automobile comprises the following steps:
s10), selecting a real road for testing in the real world, and then creating a twin road in the virtual world by digital twin calculation;
s20), selecting a test scene, and defining required dynamic traffic elements in the test scene;
s30), analyzing the test scene, and outputting the target motion trail of each dynamic traffic element;
s40), respectively generating a control instruction of the detected vehicle and a control instruction of the dynamic traffic elements through coordination control calculation according to the target motion trail of each dynamic traffic element and based on the real-time state of the detected vehicle and the real-time state of the dynamic traffic elements;
s50), the tested vehicle and the dynamic traffic element respectively operate according to the tested vehicle control instruction and the dynamic traffic element control instruction, and the test evaluation of the tested vehicle is completed under the test scene.
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| CN112947113A (en) * | 2021-01-28 | 2021-06-11 | 武汉理工大学 | Cross-domain coordinated intelligent ship test verification operation control system and method |
| CN113050455A (en) * | 2021-03-27 | 2021-06-29 | 上海智能新能源汽车科创功能平台有限公司 | Digital twin test system for intelligent networked automobile and control method |
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| CN113984416A (en) * | 2021-09-09 | 2022-01-28 | 中车青岛四方机车车辆股份有限公司 | Detection data processing method, device and equipment for bogie and readable storage medium |
| CN114061974A (en) * | 2021-11-03 | 2022-02-18 | 北京航空航天大学 | Brake experiment table for reliability digital twinning |
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Application publication date: 20201201 |